EIH Based Calibration Method for Assembly Robot

doi:10.3901/JME.2018.07.038

Abstract

Abstract: A method of robot calibration is proposed on the basis of planar target in 6 degrees of freedom (6 DOF) assembly manipulator mounted monocular eye in hand (EIH). A planar target is fixed on a workbench, and photographed by EIH when each robot joint orderly rotates. The EIH is calibrated by ZHANG two steps method and its every frame optical center is gained in the target's coordinate at the shooting position. With every trajectory circle of the optical center by each joint alone movement before, according space circle curve fitting, the center of the circle is gained, and then obtain the orientation of rotating axes, optimized by tirfocal tensor. Each joint screw is obtained. Then the robot kinematics model is established, based on the product of exponential (POE) by joints screws. The entire process requires only once installation and a collection of calibration images. Experiments show the method is feasible and convenient to set up the robot kinematics model.

Key words: EIH, joint screw, product of exponential, robot calibration, trifocal tensor

CLC Number:

TP24

LI Bing, FU Weiping, WANG Wen, YANG Shiqiang. EIH Based Calibration Method for Assembly Robot[J]. Journal of Mechanical Engineering, 2018, 54(7): 38-44.

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